Method for recognizing a spatial alignment of an object in camera data

Abstract

A method for recognizing a spatial alignment of an object in camera data. The method includes: a) providing a regular pattern including a plurality of rows of circular markings on the object; b) recognizing the circular markings in the camera data; c) ascertaining the center of at least two of the circular markings in the camera data; and d) ascertaining a spatial alignment and/or position of the object by finding at least one connecting line of at least two centers recognized in step c).

1 - 13 . (canceled) 
     
     
         14 . A method for recognizing a spatial alignment of an object in camera data, comprising the following steps:
 a) providing a regular pattern including a plurality of rows of circular markings on the object;   b) recognizing the circular markings in the camera data;   c) ascertaining a center of each of at least two of the circular markings in the camera data; and   d) ascertaining a spatial alignment of the object and/or position of the object by finding at least one connecting line of at least two of the centers recognized in step c).   
     
     
         15 . The method according to  claim 14 , wherein the regular pattern is arranged on a roof of a vehicle, the spatial alignment and/or position of the vehicle being recognized in the camera data. 
     
     
         16 . The method according to  claim 15 , wherein the camera data were recorded with a camera on a flyable drone in an observation position above the vehicle. 
     
     
         17 . The method according to  claim 14 , wherein the regular pattern includes an arrangement of the circular markings in a hexagonal grid with the rows of the circular being arranged in a manner offset from one another in individual rows. 
     
     
         18 . The method according to  claim 14 , wherein the regular pattern has rows of three including three circular markings and rows of two including two circular markings. 
     
     
         19 . The method according to  claim 14 , wherein the pattern has a total of five rows of circular markings. 
     
     
         20 . The method according to  claim 19 , wherein the pattern has two rows of three circular markings and three rows of two circular markings. 
     
     
         21 . The method according to  claim 20 , wherein the pattern includes the following arrangement of adjacent rows:
 a first row of three with circular markings;   a first row of two with circular markings that are arranged in a manner offset from the circular markings of the first row of three;   a second row of three, the circular markings of which are aligned correspondingly with the circular markings of the first row of three;   a second row of two, the circular markings of which are aligned correspondingly with the circular markings of the first row of three; and   a third row of two, the circular markings of which are aligned correspondingly with the circular markings of the rows of three.   
     
     
         22 . The method according to  claim 14 , wherein step c) is performed with a “blob detector” algorithm. 
     
     
         23 . The method according to  claim 14 , wherein step d) is performed with a Perspective-n-Point algorithm. 
     
     
         24 . A data processing device, comprising:
 a processor which is configured to recognize a spatial alignment of an object in camera data, the processor configured to:   a) provide a regular pattern including a plurality of rows of circular markings on the object;   b) recognize the circular markings in the camera data;   c) ascertain a center of each of at least two of the circular markings in the camera data; and   d) ascertain a spatial alignment of the object and/or position of the object by finding at least one connecting line of at least two of the centers recognized in c).   
     
     
         25 . A non-transitory computer-readable storage medium on which are stored commands for recognizing a spatial alignment of an object in camera data, the commands, when executed by a computer, causing the computer to perform the following steps:
 a) providing a regular pattern including a plurality of rows of circular markings on the object;   b) recognizing the circular markings in the camera data;   c) ascertaining a center of each of at least two of the circular markings in the camera data; and   d) ascertaining a spatial alignment of the object and/or position of the object by finding at least one connecting line of at least two of the centers recognized in step c)0.